JP2002168309A - Rotation transmitting mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotation transmitting mechanism with two input shafts and two rotation output shafts, simplifying the synchronous rotation of the two rotation output shafts at a speed ratio of 1:1 and achieving improved stability during the rotary motion of the two rotation output shafts and a compact figure by permitting the two rotation output shafts to be synchronously rotated or differentially rotated. SOLUTION: In order that the first rotation output shaft and the second rotation output shaft are synchronously rotated by inputting the force of rotary motion from the first input shaft while stopping the input of the force of rotary motion from the second input shaft, and differentially rotated by stopping the input of the force of rotary motion from the first input shaft while inputting the force of rotary motion from the second input shaft or inputting the force of rotary motion from both of the first input shaft and the second input shaft, the rotation transmitting mechanism has a gear mechanism laid in a connection part ranging from the first and second input shafts to the first and second output shafts, adapted to be relatively rotated while maintaining a preset difference in number between teeth.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an improvement in a rotation transmission mechanism.

[0002]

2. Description of the Related Art FIGS. 1 and 2 show a conventional rotation transmitting mechanism.
The structure shown is known.

The rotation transmitting mechanism shown in FIG. 1 uses a spur gear and a planetary gear mechanism. Two input shafts 31 and 32
And two rotation output shafts 33 and 34,
The rotation output shafts 33 and 34 are a differential rotation mechanism that performs relative rotation. Here, the rotation output shafts 33 and 34
Rotating relatively means that the rotation output shafts 33 and 34 are rotating in the same direction, but have different rotation speeds, that is, different rotation speeds, which are the number of rotations of the rotation output shaft per unit time. This includes both the case and the case where the rotation output shafts 33 and 34 are rotating in opposite directions.

The shaft 1 and the shaft 2 are rotatably supported by a case 35, and the rotation of the input shaft 32 is directly transmitted to the rotation output shaft 34 through the shaft 1. Further, the gear 36 of the case 35 meshes with the gear 37 of the input shaft 31, and the case 35 is rotatable around the shaft 1 by the rotation of the input shaft 31. Further, a gear 38 and a gear 39 are fixed to the shaft 2 rotatably supported by the case 35, and these are a gear 40 fixed to the shaft 1 and a rotation output shaft 33, respectively. It is in mesh with the gear 41.

Therefore, the shaft rotation of the input shaft 32 is directly transmitted to the rotation output shaft 34 through the shaft 1 on the one hand, and on the other hand, through the gears 40, 38, 39, 41, as described above.
It is transmitted to the rotation output shaft 33.

Here, if the input shaft 31 is also rotating, the case 35 rotates around the shaft 1, so that the shaft 2 and the gears 38, 39 perform planetary rotation about the shaft 1. . With this planetary gear mechanism, the rotation output shaft 33 has:
The shaft rotation of the input shaft 32 and the planetary rotation of the gears 38 and 39 about the shaft 1 are superimposed and transmitted. In this way, a differential rotation function in which the rotation output shafts 33 and 34 relatively rotate is realized.

The rotation transmission mechanism shown in FIG. 2 uses a bevel gear and a planetary gear mechanism.

On the other hand, the rotation of the input shaft 32 is directly transmitted to the rotation output shaft 34. On the other hand, a support member 42 rotatably supported on a shaft 3 orthogonal to the shaft 1.
However, the planetary rotation around the shaft 1 is caused by the rotation of the input shaft 32, so that the rotation of the input shaft 32 is caused by the bevel gear 43 of the support member 42 and the bevel gear 44 of the rotation output shaft 33.
Is transmitted to the rotation output shaft 33 via the

Here, if the input shaft 31 is also rotating, the rotation is transmitted to the bevel gear 43 via the bevel gear 45, so that the rotation output shaft 33 is transmitted via the bevel gears 43 and 44. The transmitted shaft rotation of the input shaft 32 and the shaft rotation of the input shaft 31 transmitted to the bevel gears 43 and 44 via the bevel gear 45 are superimposed and transmitted. In this way, a differential rotation function in which the rotation output shafts 33 and 34 relatively rotate is realized.

[0010]

In a conventional rotation transmitting mechanism which realizes a differential rotation function by using a planetary gear mechanism as shown in FIGS. 1 and 2, the planetary gear has a shaft 1 (input shaft). Because it revolves around, the dimensions must be large. Also, in order to improve the stability during rotation, usually,
It became necessary to provide two or three pairs of gears symmetrically, and the mechanism was complicated. Furthermore, it was difficult to increase the rotation speed.

The rotation speeds of the input shaft and the rotation output shaft (that is, the number of rotations of the rotation output shaft per unit time) in the rotation transmission mechanism shown in FIG. 1 are as shown in Table 1 below.

[0012]

[Table 1] In the rotation transmission mechanism shown in FIG. 1, the gear 40 (number of teeth:
Z1), a gear 38 (number of teeth: Z2), a gear 39 (number of teeth: Z3), and a gear 41 (number of teeth: Z4).
When the relationship of / Z2 × Z3 / Z4 = 1 is established, the rotation speeds of the rotation output shafts 33 and 34 become the same (n1). That is, between these gears, Z1 / Z2 × Z
When the relationship of 3 / Z4 = 1 is established, the rotation output shaft 3
3 and 34 cannot realize a differential rotation function of performing relative rotation movement.

In order to realize the differential rotation function in the rotation transmission mechanism shown in FIG. 1, Z1 / Z2 ×
The relationship of Z3 / Z4 ≠ 1 must be established.
However, in this case, it is not possible to realize a synchronous rotation with the rotation output shafts 33, 34, that is, a movement in which the rotation output shafts 33, 34 rotate in the same direction at the same rotation speed.

Therefore, in order to realize the synchronous rotation function and the differential rotation function in the rotation transmission mechanism shown in FIG. 1, Z1 / Z2 is set between the gears 40, 38, 39 and 41.
× Z3 / Z4 ≠ 1 was established to realize the differential rotation function, while it was necessary to provide a transmission mechanism such as a gear on one of the rotation output shafts 33, 34 protruding outside the case 35. .

In the rotation transmission mechanism shown in FIG. 2, in order to synchronize the rotation speeds of the rotation output shafts 33 and 34 to 1: 1, the rotation output shaft 3 protruding outside the case 35 is required.
Similarly, it is necessary to provide a transmission mechanism such as a gear in one of the gears 3 and 34.

The present invention solves the above-mentioned problems in the conventional rotation transmission mechanism, and has two input shafts and two rotation output shafts, and the two rotation output shafts are synchronously rotated. And a rotation transmission mechanism that performs differential rotation, and does not require the adoption of a large-sized structure for performing differential rotation on the two rotation output shafts, and furthermore, synchronous rotation is performed on the two rotation output shafts. An object of the present invention is to propose a rotation transmission mechanism that does not require a transmission mechanism such as a gear to be provided on one of two rotation output shafts protruding outside the casing.

That is, the present invention is a rotation transmission mechanism having two input shafts and two rotary output shafts, wherein the two rotary output shafts perform synchronous rotation and differential rotation,
The ratio of the synchronous rotation speeds of the two rotary output shafts can be easily made 1: 1. Further, the two rotary output shafts are excellent in stability when performing a rotary motion, and have a good shape. The purpose is to propose a compact rotation transmission mechanism.

[0018]

A rotation transmission mechanism proposed by the present invention includes a first input shaft and a second input shaft, and a first rotation output shaft and a second rotation output shaft. The two rotary output shafts rotate synchronously and differentially.

In this rotation transmission mechanism proposed by the present invention, the first rotary output shaft and the second rotary output shaft receive the rotational kinetic force from the first input shaft, while the second rotary shaft receives the rotary kinetic force from the second input shaft. While the input of the rotational kinetic force is stopped, the motor rotates synchronously, and the input of the rotational kinetic force from the first input shaft is stopped, while the rotational kinetic force is input from the second input shaft. Alternatively, differential rotation is achieved by inputting rotational kinetic force from both the first input shaft and the second input shaft.

Here, the synchronous rotation means that the first rotation output shaft and the second rotation output shaft rotate in the same direction and at the same rotation speed, and the differential rotation means the first rotation output shaft and the second rotation output shaft. The rotation output shaft and the second rotation output shaft of the relative rotation, that is,
One rotation output shaft and the other rotation output shaft have the same rotation direction but different rotation speeds, or one rotation output shaft and the other rotation output shaft rotate in different directions. Say.

[0021] In the rotation transmission mechanism of the present invention, the first rotary output shaft and the second rotary output shaft receive the rotational kinetic force from the first input shaft while the second rotary output shaft receives the rotary kinetic force from the second input shaft. When the input of the rotational kinetic force is stopped, the motor rotates synchronously, and the input of the rotational kinetic force from the first input shaft is stopped, while the rotational kinetic force from the second input shaft is input or From the first and second input shafts, the first and second rotary output shafts are rotated so that the rotational movement force is input from both the first input shaft and the second input shaft. A gear mechanism that keeps a predetermined difference in the number of teeth and is relatively rotatable is interposed in the connection path. More specifically, it is configured as follows.

The first input shaft is arranged such that the rotation speed of the first rotary output shaft corresponds to the rotation speed of the first input shaft.
For example, the first rotation output shaft is connected to the first rotation output shaft so as to rotate at the same rotation speed as the rotation speed of the first input shaft, and the first and second differential rotation It is connected to the second rotary output shaft via a gear mechanism.

Here, the first and second differential rotary gear mechanisms are respectively configured as follows.

The first differential rotary gear mechanism includes a first internal gear connected to a first input shaft, a second internal gear, and a first elastic gear commonly meshed with them. External gears,
It is constituted by a first cam having a non-rotatable elliptical cross section which is fitted into the first elastic external gear.

The second differential rotary gear mechanism includes a third internal gear fixedly connected to the second internal gear, and a fourth internal gear connected to a second rotary output shaft. Internal gear and
A second elastic external gear that meshes with them in common, and a second cam having an elliptical cross section that is fitted to the second elastic external gear and fixed to the second input shaft. ing.

The rotation transmitting mechanism according to the present invention is characterized in that the number of teeth of the first and second elastic external gears, the number of teeth of the first and fourth internal gears, the number of teeth of the second and third It is characterized in that a predetermined relationship is maintained between the number of teeth of the tooth gear.

The internal gear used in the first and second differential rotary gear mechanisms in the above-described rotation transmitting mechanism of the present invention, the elastic external gear meshing with the internal gear, and fitted into the elastic external gear. The gear mechanism constituted by the cam having an elliptical cross section has been conventionally used for a speed reducer or the like. This will be described with reference to FIGS.

The externally toothed elastic gear 23 is generally formed of a cup-shaped metal elastic body, and has teeth 24 on its outer periphery. The internal gear 21 has a rigid ring shape and has teeth 22 formed at the same pitch as the external elastic gear 23 on the inner periphery having a circular cross section.
And the number of teeth 22 of the internal gear 21 differ by a predetermined number. For example, in the embodiment shown in FIG. 4A, the number of teeth 22 of the internal gear 21 is larger than the number of teeth 24 of the external gear 23 by a predetermined number.

As shown in FIG. 4A, a cam 27 having an elliptical cross section fitted to the external gear 23 has a cam plate 25 having an elliptical cross section and a ball bearing 26 fitted to the outer periphery thereof. And is attached to the rotating shaft 28 and rotates integrally with the rotating shaft 28.

As shown in FIG. 4 (a), the teeth 24 of the external toothed elastic gear 23 bent by the cam 27 having an elliptical cross section are
The cam 27 meshes with the tooth 22 of the internal gear 21 at a position corresponding to the long diameter portion of the elliptical cross section.

Assume that the internal gear 21 is fixed and the cam 27 is rotated clockwise in FIG. 4A. Teeth 24 of external gear 23 and teeth 22 of internal gear 21
4 (a) and FIG.
4 (b), as shown in FIG. Then, as shown in FIG. 4D, when the cam 27 makes one rotation, in the embodiment shown in FIG. 4D, the number of the teeth 22 of the internal gear 21 becomes the external elastic gear 2
3 is larger than the number of teeth 24 by a predetermined number.
Moves in a direction opposite to that of the cam 27, and can generate a relative rotational movement between the rotating shaft 28 and the external gear 23.

In the rotation transmission mechanism of the present invention, FIG.
Four gear mechanisms described in (a) to (d) are employed, and two of the four gear mechanisms constitute first and second differential rotary gear mechanisms, respectively.

However, the elastic external gear that meshes with the two internal gears that constitute the first differential rotary gear mechanism, and the cam with an elliptical cross section fitted into the elastic external gear, A single elastic external gear and a cam having an elliptical cross section common to the internal gears. Further, the elastic external gear that meshes with the two internal gears that constitute the second differential rotary gear mechanism, and the cam having an elliptical cross section fitted into the elastic external gear, It is a single elastic external gear and a cam having an elliptical cross section common to the tooth gear.

That is, in the rotation transmitting mechanism of the present invention, the first differential rotary gear mechanism includes a first internal gear, a second internal gear, and a first internal gear that meshes with the first internal gear and the second internal gear. It comprises an elastic external gear and a first cam having an elliptical cross section fitted into the first elastic external gear.
Also, the second differential rotary gear mechanism includes a third internal gear,
It is constituted by a fourth internal gear, a second elastic external gear that meshes with them in common, and a second cam having an elliptical cross section fitted into the second elastic external gear. It is.

Then, the second internal gear and the third internal gear are connected, the first internal gear is connected to the first input shaft, and the fourth internal gear is connected to the second rotary output shaft. It is connected to each.

Further, the first cam having the elliptical cross section is always non-rotatable, the second cam having the elliptical cross section is fixed to the second input shaft, and the second cam having the elliptical cross section is fixed. When the input shaft is rotating, it rotates similarly, and when the second input shaft is stopped, it cannot rotate.

The second internal gear and the third internal gear are fixedly connected, that is, both are rotated in the same rotational direction and at the same rotational speed.

The connection of the first internal gear to the first input shaft and the connection of the fourth internal gear to the second rotation output shaft are performed in a connection form via a rotation transmission mechanism such as a gear. Linked or
By the fixed connection, the first internal gear and the first input shaft and the fourth internal gear and the second rotary output shaft rotate in the same rotational direction at the same rotational speed. It is linked to be.

In the above-described rotation transmission mechanism of the present invention,
The number of teeth of the first and second elastic external gears, the number of teeth of the first and fourth internal gears, and the number of teeth of the second and third internal gears are predetermined. The relationship is, for example, that the number of teeth of the first and second elastic external gears is the same as the number of teeth of the first and fourth internal gears, and the number of teeth of the second and third internal gears is R. R together
+2.

Here, when the rotational kinetic force is input from the first input shaft and the input of the rotational kinetic force from the second input shaft is stopped, the first rotational output shaft becomes It rotates at a rotation speed corresponding to the rotation speed of the first input shaft, for example, the same rotation speed as the rotation speed of the first input shaft.

The first internal gear also rotates at a rotation speed corresponding to the rotation speed of the first input shaft, for example, the same rotation speed as the rotation speed of the first input shaft.

Since the first cam having an elliptical cross section fitted into the first elastic external gear meshing with the first internal gear cannot rotate, the first elastic gear having the same number of teeth is used. The external gear rotates at the same rotational speed as the first internal gear.

With the rotation of the first elastic external gear,
The second internal gear also rotates, but since the number of teeth of the second internal gear is two more than the number of teeth of the first elastic external gear, the second internal gear has this large number of teeth. Two rotations relative to the first elastic external gear are performed.

That is, the second internal gear rotates relative to the first internal gear by the number of teeth that are two more than the first internal gear.

The third internal gear rotates at the same rotational speed as the second internal gear, but has an elliptical cross section fitted in the second elastic external gear that meshes with the third internal gear. The second cam having the elliptical cross section is fixed to the second input shaft, and here, the input of the rotational kinetic force from the second input shaft is stopped. Does not rotate.

Therefore, the second elastic external gear rotates with the third internal gear rotating at the same rotational speed as the second internal gear, but the teeth of the second elastic external gear are rotated. Since the number is two less than the number of teeth of the third internal gear, the second elastic external gear rotates relative to the third internal gear by this small number of two teeth. Become.

The fourth internal gear meshed with the second elastic external gear also rotates in accordance with the rotation of the second elastic external gear. The second elastic external gear has the same number of teeth as the second elastic external gear, and the second cam having an elliptical cross section fitted into the second elastic external gear does not rotate. Rotates at the same rotational speed as the elastic external gear.

As a result, the fourth internal gear has a relative rotation between the first elastic external gear and the second internal gear, and a third internal gear and the second elastic external gear. After all, the first internal gear rotates at the same rotational speed as the first internal gear.

Therefore, the second output shaft connected so as to rotate at the same rotational speed in the same rotational direction as the fourth internal gear has the same rotational speed as the rotational speed of the first internal gear. The rotation speed is the same as the rotation speed of the first input shaft, that is, the first rotation output shaft and the second rotation output shaft rotate synchronously.

That is, synchronous rotation can be realized without the necessity of providing a transmission mechanism such as a gear on both the first rotation output shaft and the second rotation output shaft protruding outside the rotation transmission mechanism. .

The ratio of the rotation speeds of the first and second rotary output shafts during the synchronous rotation is determined by the number of teeth of the first and second elastic external gears and the first and fourth rotation speeds. By adjusting a predetermined relationship between the number of teeth of the internal gear and the number of teeth of the second and third internal gears, the ratio can be easily made 1: 1.

Further, if the first input shaft is fixed and the first rotary output shaft is not rotated, and the second input shaft is rotated, the elliptical cross section fixed to the second input shaft is fixed. The second cam rotates, which causes the second resilient external gear,
The fourth internal gear rotates, and the second rotation output shaft rotates. That is, since the first input shaft is fixed, the first rotary output shaft does not rotate, while only the second rotary output shaft rotates, and the first rotary output shaft and the second rotary output shaft are rotated. A differential rotation is realized that causes a relative rotational movement with respect to the rotary output shaft.

Even if both the first input shaft and the second input shaft are simultaneously rotated, the rotational kinetic force input from the first input shaft is transmitted to the first rotary output shaft. The first and second input shafts, and the rotational kinetic force input from the second input shaft side, are fixedly connected to perform rotation at the same rotation speed in the same direction, the second, second Three internal gears,
Since the rotation is superimposed or offset by the relative rotational movements generated between the first and second elastic external gears and transmitted to the second rotational output shaft, the first rotational output shaft and the second rotational It is possible to realize a differential rotation for performing a rotational movement relative to the output shaft.

In this case, by rotating the first and second input shafts in the same direction or in opposite directions, the rotational kinetic force input from the first input shaft side and the second input shaft side is obtained. By superimposing, the rotation speed of the second rotation output shaft is faster than the rotation speed of the first rotation output shaft,
By offsetting the rotational kinetic force input from the first input shaft side and the second input shaft side, the rotation speed of the second rotation output shaft is slower than the rotation speed of the first rotation output shaft, Or,
It is possible to rotate the second rotation output shaft in a direction opposite to the first rotation output shaft.

That is, according to the rotation transmitting mechanism of the present invention, a large-sized structure such as a planetary gear mechanism that performs planetary rotation around the central axis of the rotational movement of one of the rotary output shafts while simultaneously performing a rotational movement. Can be used to cause the two rotary output shafts to perform differential rotation.

[0056]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the present invention will be described below with reference to FIG.

FIG. 3 is a schematic configuration diagram showing an example of the rotation transmitting mechanism of the present invention in a cross section of an upper half in FIG.

This rotation transmitting mechanism is rotatably supported in the first input shaft 31, the second input shaft 32, the first rotary output shaft 33, and the first rotary output shaft 33. A second rotation output shaft 34 is provided, and the first rotation output shaft 33 and the second rotation output shaft 34 are rotated synchronously and differentially.

The first input shaft 31 and the second input shaft 32 can be attached to the common body 15 and installed.

The main body 15 has a support shaft 14 as shown in FIG.
Are fixedly, that is, non-rotatably supported, and the hollow housing 1 is rotatably supported on the support shaft 14.

A first input shaft 31 is connected to one end of the outer flange 2 of the hollow housing 1 via a gear mechanism, and a first rotary output shaft 33 is provided at the other end.

A rotary input shaft 12 is rotatably supported in the support shaft 14. A second input shaft 32 is mounted on one end of the rotary input shaft 12, and the other end of the hollow housing 1 is mounted on the other end. Stretched inside.

An elliptical first cam 13 and a second cam 11 are fixed to the outer periphery of the support shaft 14 and the rotary input shaft 12 on the side extending into the hollow housing 1, respectively. Oval first cam 13 and second cam 11
Are fitted into the first external gear elastic gear 4 and the second external gear elastic gear 8, respectively.

Further, the first external gear 4 has the first internal gear 3 and the second internal gear 5, and the second external gear 8 has the third internal gear. The gear 7 and the fourth internal gear 9 are meshed with each other.

As described above, the gear mechanism constituted by the first internal gear 3, the first external elastic gear 4, the first cam 13 having an elliptical cross section, the second internal gear 5, One external toothed elastic gear 4, a gear mechanism constituted by a first cam 13 having an elliptical cross section, a third internal gear 7, a second external toothed elastic gear 8, a second cam having an elliptical cross section 11, a fourth internal gear 9, a second external gear elastic gear 8, and a gear mechanism configured by a second cam 11 having an elliptical cross section are each shown in FIG. This corresponds to the conventionally known gear mechanism described with reference to (d).

The second internal gear 5 and the third internal gear 7 are fixedly connected by an inner flange 6 rotatably supported on the inner peripheral wall of the hollow housing 1. The internal gear 3 is fixedly connected to the outer flange 2 of the hollow housing 1, and the fourth internal gear 9 is fixedly connected to the second rotary output shaft 34 via the output shaft 10 connected thereto. Have been.

Hereinafter, in the rotation transmission mechanism shown in FIG.
A case where synchronous rotation is performed will be described.

The second input shaft 32 is fixed so as not to rotate, that is, the second input shaft 32 is fixed to the rotary input shaft 12 and fitted into the second external gear 8 with an elliptical cross section. While the second cam 11 is fixed, the first input shaft 31 is rotated. by this,
The hollow housing 1 rotates, and the first rotation output shaft 33 rotates.

On the other hand, the first internal gear 3 fixed to the outer flange 2 of the hollow housing 1 also rotates together with the hollow housing 1.

Since the first internal gear 3 meshes with the first external gear 4, the first external gear 4
Also tends to rotate with the rotation of the first internal gear 3. However, the first external toothed elastic gear 4 has a first cam 13 having an elliptical cross section and fixed to a support shaft 14 which does not rotate.
Is fitted, the teeth of the first internal gear 3 and the teeth of the first external gear 4 engage with each other at the position of the major axis of the elliptical cross section of the first cam 13, whereby The one external gear 4 also rotates so as to slide on the outer peripheral wall surface of the first cam 13 which does not rotate. If there is a difference between the number of teeth of the first internal gear 3 and the number of teeth of the first external gear 4, the two rotate relatively.

Next, the second internal gear 5 meshing with the first external gear 4 also tries to rotate with the rotation of the first external gear 4. However, also in this case, the first cam 13 having an elliptical cross section provided on the support shaft 14 that does not rotate is fitted into the first external gear 4 so that the elliptical cross section of the first cam 13 is formed. At the position of the major axis
The teeth of the first external gear 4 and the teeth of the second internal gear 5 mesh with each other, whereby the second internal gear 5 rotates. Then, if there is a difference between the number of teeth of the second internal gear 5 and the number of teeth of the first external gear 4, both of them rotate relatively here.

Since the second internal gear 5 is fixedly connected to the third internal gear 7 via the inner flange 6, the rotational movement of the second internal gear 5 is limited to the third internal gear. It is transmitted to the gear 7.

Since the third internal gear 7 meshes with the second external gear 8, the second external gear 8 will also rotate with the rotation of the third internal gear 7. And However, since the second external toothed elastic gear 8 is fitted with the second cam 11 having an elliptical cross section provided on the rotation input shaft 12 which cannot rotate. The teeth of the third internal gear 7 and the teeth of the second external elastic gear 8 mesh with each other at the position of the major axis of the elliptical cross-section, whereby the second external gear 8 does not rotate. Rotate on the outer peripheral wall surface of the cam 11. And
If there is a difference between the number of teeth of the third internal gear 7 and the number of teeth of the second external gear 8, both of them rotate relatively.

Next, the fourth internal gear 9 meshing with the second external gear 8 also tries to rotate with the rotation of the second external gear 8. However, the second cam 11 having an elliptical cross section provided on the rotation input shaft 12 which is not rotatable is fitted into the second external gear elastic gear 8 also here. At the position of the long diameter of the elliptical cross section of the cam 11, the teeth of the second external gear 8 and the teeth of the fourth internal gear 9 mesh with each other, whereby the fourth internal gear 9 rotates. If there is a difference between the number of teeth of the fourth internal gear 9 and the number of teeth of the second external elastic gear 8, here, both of them rotate relatively.

The output shaft 10 is connected to the fourth internal gear 9, and is fixed to the second rotary output shaft 34, so that with the rotation of the fourth internal gear 9, The second rotation output shaft 34 rotates.

In this way, the second input shaft 32 is fixed (rotationally disabled), while the first input shaft 31 is rotated.
3. The second rotation output shaft 34 can be rotated.

Here, as described above, if there is a difference between the respective numbers of teeth, the first internal gear 3 and the first external gear 4
, Between the first external gear 4 and the second internal gear 5, the third internal gear 7 and the second internal gear 7 that perform the same rotational movement as the second internal gear 5. Relative rotation is performed between the external elastic gear 8 and between the second external gear 8 and the fourth internal gear 9.

Therefore, the number of teeth of the first internal gear 3, the number of teeth of the fourth internal gear 9, the number of teeth of the first external gear 4, and the number of second external gear 8 (For example, R
), The number of teeth of the second internal gear 5 and the third internal gear 7
Are the same (for example, R + 2), the first internal gear 3 and the fourth internal gear 9 rotate at the same rotational speed as described above.

Here, the first internal gear 3 rotates in the same direction as the first input shaft 31 at the same rotational speed, and the second rotary output shaft 34 has the fourth internal gear The first rotation output shaft 33 and the second rotation output shaft 34 that rotate at the same rotation speed in the same direction as the first input shaft 31 because they rotate at the same rotation speed in the same direction as the gear 9. And synchronous rotation that rotates in the same direction at the same rotation speed can be realized.

In this case, the number of teeth of the first and second external gears 4 and 8 is different from the number of teeth of the first and fourth internal gears 3 and 9, and Even if the number of teeth of the three internal gears 5 and 7 is the same (R + 2), the synchronous rotation described above is established.

Next, the case where the differential rotation is performed will be described.

The first input shaft 31 is fixed and cannot be rotated, that is, the outer flange 2, the first internal gear 3, the first external elastic gear 4, and the second internal gear 5, the second input shaft 32 is rotated while the inner flange 6, the third internal gear 7 is fixed.

The rotation of the second input shaft 32 causes the rotation input shaft 12 and the second cam 11 having an elliptical cross section fixed thereto to rotate.

Here, the fixed third internal gear 7
The second external toothed elastic gear 8 is engaged with the second external toothed elastic gear 8, and the second cam 11 having an elliptical cross section that rotates as described above is fitted into the second external toothed elastic gear 8. Cam 11
The teeth of the third internal gear 7 and the teeth of the second external elastic gear 8 mesh with each other at the position of the major axis of the elliptical section.

Therefore, when the number of teeth of the third internal gear 7 is equal to the number of teeth of the second external gear 8, the second external gear 8 does not rotate and the second external gear 8 does not rotate. Only the cam 11 continues to rotate, and the position of the major axis of the elliptical cross section moves.

Since the second external gear 8 is also meshed with the fourth internal gear 9, the rotation of the second cam 11 causes the elliptical cross section to move to the position of the longer diameter, and
At the position of the long diameter, the teeth of the second external gear 9 and the teeth of the fourth internal gear 9 mesh.

Therefore, if there is a difference between the number of teeth of the second external gear 8 and the number of teeth of the fourth internal gear 9, as described with reference to FIG. A relative rotational movement occurs, whereby the fourth internal gear 9 rotates, and accordingly, the second rotary output shaft 34 rotates, and the first rotary output shaft 33 and the second rotary output shaft 33 rotate. A differential rotation function in which the shaft 34 rotates relatively is realized.

Note that, contrary to the above, the number of teeth of the second external gear 8 and the number of teeth of the fourth internal gear 9 are the same,
If there is a difference between the number of teeth of the second external gear 8 and the number of teeth of the third internal gear 7, the second external gear 8 rotates, and the rotating second external gear 8 rotates. Since the fourth internal gear 9 meshing with the tooth elastic gear 8 rotates and the second rotation output shaft 34 rotates with this rotation, the first rotation output shaft 33 and the second rotation output shaft 33 are rotated. 34 is realized.

Thus, by fixing the first input shaft 31 (in a state where it cannot rotate) and rotating the second input shaft 32, the first rotation output shaft 33 and the second rotation output shaft 33 are rotated. 34 can be realized.

In the above differential rotation, the first input shaft 31 is fixed and the other is rotated for the sake of simplicity, but according to the rotation transmission mechanism of the present invention, the first input shaft 31 is rotated. Even if both of the second input shafts 31 and 32 are rotated, differential rotation can be easily realized.

That is, in the rotation transmitting mechanism of the present invention, the rotational motion force input from the first input shaft 31 side
The rotational motion force input from the second input shaft 32 is the same as the second and third internal gears 5 and 7 connected to perform the same rotational motion, and the first and second elastic members. Superimposed or canceled out by the relative rotational motion generated between the external gears 4 and 8, the power is transmitted to the first rotary output shaft 33 and the second rotary output shaft 34.

Therefore, when the first and second input shafts 31 and 32 are respectively rotated in the same direction, the second rotary output shaft 3 is rotated.
4 can be rotated at a higher rotation speed in the same rotation direction as the first rotation output shaft 33. When the first and second input shafts 31 and 32 are rotated in opposite directions,
The second rotation output shaft 34 is rotated at a lower rotation speed in the same rotation direction as the first rotation output shaft 33, or the rotation output shaft 34 is rotated in the opposite direction to the first rotation output shaft 33. be able to.

The relationship between the rotation speed of the input shaft and the rotation speed of the output shaft in the rotation transmission mechanism shown in FIG. 3 described above is as shown in Table 2 below.

[0094]

[Table 2] That is, as described above, when the second input shaft 32 is fixed, n2 = 0, and the rotation speed of both the first and second rotation output shafts 33 and 34 becomes n1 (synchronous rotation). When the first input shaft 31 is fixed, n1 =
0, and only the second rotation output shaft 34 has n2 × 2 /
At the rotation speed of (R + 2), the motor rotates relative to the first rotation output shaft 33 that is not rotating (differential rotation). When both the first input shaft 31 and the second input shaft 32 are rotated, the first and second rotation output shafts 33, 3
4 rotate relatively at different rotation speeds (differential rotation).

The embodiment shown in FIG. 5 integrates the second internal gear 5 and the third internal gear 7 connected by the inner flange 6 in the embodiment shown in FIG. The second internal gear 5 and the third internal gear 7 are located at positions where the second internal gear 5 and the second external gear 8 mesh with each other.
Is a single internal gear 501 provided with internal gear portions corresponding to the above. Other configurations and basic operations are the same as those described with reference to FIG.
Its illustration and description are omitted.

FIGS. 6 and 7 illustrate a case where the rotation transmitting mechanism of the present invention described with reference to FIG. 3 is used for a robot.

In the case shown in FIG. 6, when the robot is a scalar robot and the rotating shaft 111 and the central shaft 112 are synchronously rotated at a rotation speed ratio of 1: 1, the entire arm portion 108 is rotated. When the rotation axis 111 and the center axis 112 perform relative rotation, that is, differential rotation, the arm portion 108 performs expansion and contraction movement. The robot performs positioning control by determining the coordinates on the plane by the turning movement and the expansion and contraction movement of the arm portion 108.

In this robot, the first and second rotation output shafts of the rotation transmission unit 101 provided with the rotation transmission mechanism of the present invention are connected to the turning shaft 111 and the center shaft 112, respectively. The rotation transmission unit 101 is provided with shafts 102 and 103. The shaft 102 is connected to the rotary motion input means corresponding to the first input shaft 31 in the above-described rotation transmission mechanism of the present invention, and the other shaft 103 corresponds to the second input shaft 32 in the rotation transmission mechanism of the present invention. It is connected to the rotary motion input means.

In the example shown in FIG. 6, a motor 105 for a turning shaft 111 is connected to a shaft 102 via a timing belt 104, and a motor 106 for a center shaft 112 is connected to the shaft 103.

Since the rotation transmission mechanism of the present invention has both a synchronous rotation mechanism and a differential rotation mechanism, the motor 10 corresponding to the second input shaft 32 in the rotation transmission mechanism of the present invention.
6 is also the first input shaft 31 in the rotation transmitting mechanism of the present invention.
Can be fixed to the main body 113 as in the case of the motor 105 corresponding to. Thereby, the motor 105
Wiring 109 for the motor 106 as well as the wiring 109 for the motor
0 can also be fixed.

In general, the motor for rotating the central shaft 112 is fixed to a turning shaft 111 as shown in FIG. 6, and the motor fixed to the turning shaft 111 is
It turns with the turning of 1. Then, since the wiring to the motor moves together with the motor, twisting or the like occurs, and wiring processing becomes difficult. This is also a factor that restricts the turning angle range of the turning shaft 111.

However, if the rotation transmission mechanism of the present invention is used, as described above, the motor 1 for rotating the central shaft 112 is used.
06 can also be fixed to the main body 113, so that fixing the wiring 110 simplifies the wiring, and also allows the turning shaft 111 to turn indefinitely.

As a result, the reliability of the robot is improved, and the short-cut operation by turning the arm portion 108 is also possible, thereby producing advantages such as a reduction in operation time. Furthermore,
Since the weight of the turning portion is also reduced, it is possible to improve controllability.

FIG. 7 shows the pivot shaft 1 in the embodiment of FIG.
Motor 10 having a hollow hole as motor 105 for motor 11
7 shows an example using No. 7. Timing belt 10
4 are not required, all are coaxially housed, and are more compact than the embodiment shown in FIG.

As described above, the preferred embodiments of the present invention have been described with reference to the accompanying drawings. However, the present invention is not limited to such embodiments, and has the following technical scope. It can be changed to various forms.

[0106]

According to the present invention, there are provided two input shafts and two rotary output shafts, and the two rotary output shafts are a rotation transmission mechanism that performs synchronous rotation and differential rotation. Therefore, synchronous rotation and differential rotation can be realized without attaching an additional gear mechanism or the like to either the portion of the two rotary output shafts protruding outside the casing or the housing. .

Further, the ratio of the synchronous rotation speeds of the two rotary output shafts can be easily and reliably set to 1: 1.

Further, synchronous rotation with the two rotation output shafts,
Regardless of which of the differential rotations is performed, as shown in FIG. 3 and FIG. The present invention can provide a compact rotation transmission mechanism which is excellent in stability when the rotary output shaft performs a rotary motion.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram illustrating a conventional differential rotation mechanism using a planetary gear mechanism.

FIG. 2 is a schematic configuration diagram illustrating a conventional differential rotation mechanism using a bevel gear.

FIG. 3 is a schematic configuration diagram illustrating an example of a rotation transmission mechanism of the present invention by cross-section of an upper half thereof.

4A and 4B are diagrams illustrating a rotation transmission mechanism employed in the present invention, wherein FIG. 4A is a diagram illustrating a cross section thereof, and FIG.
The figure showing the state where the cam rotated 90 degrees from the state of (a),
FIG. 5C is a diagram illustrating a state in which the cam has rotated by 180 degrees from the state in FIG. 4A, and FIG. 5D is a diagram illustrating a state in which the cam has rotated one rotation from the state in FIG.

FIG. 5 is a schematic configuration diagram showing another rotation transmitting mechanism of the present invention in a cross section of an upper half.

FIG. 6 is a diagram illustrating a robot that employs the rotation transmission mechanism of the present invention.

FIG. 7 is a diagram illustrating another robot in which the rotation transmission mechanism of the present invention is employed.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hollow housing 2 Outer flange 3 First internal gear 4 First external gear 5 Second internal gear 6 Inner flange 7 Third internal gear 8 Second external gear 9 Fourth Internal gear 10 output shaft 11 second cam 12 having an elliptical cross section 12 rotary input shaft 13 first cam 14 having an elliptical cross section 14 support shaft 15 main body 21 internal gear 22 teeth 23 external elastic gear 24 teeth 25 oval Cam plate 26 ball bearing 27 cam having an elliptical cross section 28 rotating shaft 31 first input shaft 32 second input shaft 33 first rotating output shaft 34 second rotating output shaft 111 turning shaft 112 central shaft 108 arm portion Reference Signs List 101 rotation transmission unit 102 axis 103 axis 104 timing belt 105 motor 106 motor 113 main body 109 wiring 110 wiring 107 motor having a hollow hole

Continued on the front page F term (reference) 3F060 AA01 CA21 EB02 EB12 EC02 EC12 GA05 GA13 GB28 3J027 FA36 FB32 GA01 GB03 GB05 GC06 GC24 GD02 GD04 GD07 GD08

Claims (2)

[Claims] A first input shaft and a second input shaft; and a first rotary output shaft and a second rotary output shaft, wherein the two rotary output shafts rotate synchronously and differentially. In the rotation transmission mechanism, the first rotation output shaft and the second rotation output shaft, while the rotation kinetic force is input from the first input shaft, the input of the rotation kinetic force from the second input shaft is While being stopped, they rotate synchronously, and the input of the rotational kinetic force from the first input shaft is stopped, while the rotational kinetic force is input from the second input shaft or the first input shaft. A rotational transmission mechanism that performs differential rotation by inputting rotational motion force from both the first and second input shafts. 2. The first input shaft is connected to the first rotation output shaft such that the rotation speed of the first rotation output shaft corresponds to the rotation speed of the first input shaft. A first and a second differential rotary gear mechanism are connected to a second rotary output shaft via a second differential rotary gear mechanism, and the first differential rotary gear mechanism is connected to a first input shaft. An internal gear, a second internal gear, a first elastic external gear that meshes with them in common, and a non-rotatable elliptical cross-section that is fitted into the first elastic external gear The second differential rotary gear mechanism is connected to a third internal gear fixedly connected to the second internal gear, and to a second rotary output shaft. A fourth internal gear, a second elastic external gear that meshes with the fourth internal gear, and a fourth internal gear that is fitted into the second elastic external gear. A second cam having an elliptical cross section fixed to the second input shaft, the number of teeth of the first and second elastic external gears, and the first and fourth internal gears The rotation transmission mechanism according to claim 1, wherein a predetermined relationship is maintained between the number of teeth of the second internal gear and the number of teeth of the second and third internal gears.